When I use a bipod, I make sure to have the legs on something soft (but not "bouncy"), be it a coat or tee shirt . . . I've even used carpet padding! I've found though, that (as the poster above me said, I think. "Preloading" may refer to the pressure you put on the legs, too") if I brace the legs with sand bags, much of the bounce is eliminated. Or, at least, my groups tighten up, so I think that's what it is.
Sandbags are super stable & supportive, but what I do now is support my rifle/carbine on my bug-out-bag. I found this . . . "thing" with MOLLE straps and two parallel foam pads sewn in. The hand-guards snuggle right in there, between the pads and it makes for an excellent shooting platform. I figure it's good for consistency, too - should I even need to go prone. You know?
As for the sandbag behind the buttstock . . . eh. That's not my thing. I might go for an adjustable monopod though, although, that too has drawbacks.
The best advice anyone can give you? Get a FF tube/quadrail (unless you're shooting a retro, or something which "prohibits" it). The difference in performance is apparent with your first grouping.